Self-advancing endoscopic probe and system compromising same

Abstract

Embodiments generally relate to propulsion devices, systems, or components thereof, for progressing instruments along passages, as well as associated methods of manufacture. For example, the instruments may include tools, sensors, probes and/or monitoring equipment for medical use (such as endoscopy) or industrial use (such as mining). The described embodiments may also be suitable for applications in other fields to progress an instrument along a passage. Some embodiments relate to an endoscope comprising or configured to receive a propulsion tube configured to assist in progressing the endoscope along a passage.

The invention claimed is: 
     
         1 . An endoscope comprising an insertion tube and a propulsion tube unit, the propulsion tube unit comprising:
 an elongate propulsion tube comprising a first end and a second end opposite the first end, the tube defining a channel configured to accommodate a liquid, a first end of the channel being closed at or near the first end of the tube and a second end of the channel being defined by the second end of the tube;   a mechanism for promoting gas nucleation or cavitation at a distal end of the propulsion tube; and   a piston assembly connected to the second end of the tube, the piston assembly comprising:
 a body defining a bore in fluid communication with the channel of the tube; and 
 a movable piston disposed within the bore and configured to seal against an internal surface of the bore, 
   wherein the piston assembly and the propulsion tube cooperate to define a sealed vessel containing a selected mass of fluid, the fluid including liquid.   
     
     
         2 . The endoscope of  claim 1 , wherein the elongate propulsion tube is bonded to the insertion tube. 
     
     
         3 . The endoscope of  claim 1 , wherein the elongate propulsion tube is integrally formed with the insertion tube. 
     
     
         4 . The endoscope of  claim 1 , wherein the propulsion tube unit further comprises one or more mechanisms configured to promote gas nucleation or cavitation in a plurality of regions spaced along at least part of the length of the channel in the distal portion of the propulsion tube when the pressure is reduced. 
     
     
         5 . The endoscope of  claim 1 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises a layer of porous material configured to form an internal distal end surface of the propulsion tube. 
     
     
         6 . The endoscope of  claim 5 , wherein the porous material comprises a porous ceramic material. 
     
     
         7 . The endoscope of  claim 1 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises an acoustic transducer positioned near the distal end of the propulsion tube. 
     
     
         8 . The endoscope of  claim 7 , wherein the acoustic transducer comprises an active piezo ceramic transducer element. 
     
     
         9 . The endoscope of  claim 1 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises a material of relatively higher thermal conductivity at the distal end of the propulsion tube compared with an adjacent portion of the propulsion tube. 
     
     
         10 . The endoscope of  claim 1 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises a catalytic material forming at least part of an internal distal end surface of the propulsion tube. 
     
     
         11 . An endoscope comprising an insertion tube and a propulsion tube unit, the propulsion tube unit comprising:
 an elongate propulsion tube comprising a first end and a second end opposite the first end, the tube defining a channel configured to accommodate a liquid, a first end of the channel being closed at or near the first end of the tube and a second end of the channel being defined by the second end of the tube;   a mechanism for promoting gas nucleation or cavitation at a distal end of the propulsion tube; and   a diaphragm pump assembly connected to the second end of the tube, the diaphragm pump assembly comprising:
 a body defining a chamber in fluid communication with the channel, the chamber extending between a first opening and a second opening; and 
 a diaphragm covering the first opening of the chamber, the diaphragm comprising a resiliently deformable membrane; 
   wherein the diaphragm pump assembly and the tube cooperate to define a sealed vessel containing a selected mass of fluid, the fluid including liquid.   
     
     
         12 . The endoscope of  claim 11 , wherein the elongate propulsion tube is bonded to the insertion tube. 
     
     
         13 . The endoscope of  claim 11 , wherein the elongate propulsion tube is integrally formed with the insertion tube. 
     
     
         14 . The endoscope of  claim 11 , wherein the propulsion tube unit further comprises one or more mechanisms configured to promote gas nucleation or cavitation in a plurality of regions spaced along at least part of the length of the channel in the distal portion of the propulsion tube when the pressure is reduced. 
     
     
         15 . The endoscope of  claim 1 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises a layer of porous material configured to form an internal distal end surface of the propulsion tube. 
     
     
         16 . The endoscope of  claim 15 , wherein the porous material comprises a porous ceramic material. 
     
     
         17 . The endoscope of  claim 11 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises an acoustic transducer positioned near the distal end of the propulsion tube. 
     
     
         18 . The endoscope of  claim 17 , wherein the acoustic transducer comprises an active piezo ceramic transducer element. 
     
     
         19 . The endoscope of  claim 11 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises a material of relatively higher thermal conductivity at the distal end of the propulsion tube compared with an adjacent portion of the propulsion tube. 
     
     
         20 . The endoscope of  claim 11 , wherein the mechanism for promoting gas nucleation or cavitation at the distal end of the propulsion tube comprises a catalytic material forming at least part of an internal distal end surface of the propulsion tube.